Project Paper Presentation Hanlin Wan March 15, 2011

iPad Mobile Surgical Console Goal: Create iPad application to allow remote configuration of surgical robot components Progress: Necessary libraries and tools compiled and working Future Steps: Design GUI, implement controls

Paper Selection Surgical Assistant Workstation (SAW) Communication Interfaces for Teleoperation M.Y. Jung, G. Sevinc, A. Deguet, R. Kumar, R. Taylor, P. Kazanzides From cisst workshop ICRA 2010.

Purpose of SAW Software development framework for interfacing with hardware and software modules Hardware – robotic devices, imagers, sensors Software – video processing, 3D user interfaces, robot motion control

SAW in Action From: Surgical Workstation Wiki,

Advantages Flexibility –Inter-thread communication – tasks running within a single process –Inter-process communication – tasks being distributed across networks Convenience –Can pass any data types supported by cisst –Runs on Windows, Linux, Mac, hopefully iOS High network performance

Framework cisst libraries – core framework Internet Communication Engine (ICE) – network layer

Proxy Pattern Design Replaces local connection with conceptual local connection over network From Jung Paper

cisstMultiTask library Provided interfaces – server task Required interfaces – client task From Jung Paper

Proxy Pattern in cisstMultiTask Proxy objects hidden from application level ICE makes proxy connections transparent From Jung Paper

Coding of Proxy Design Set up task manager Register tasks Connect tasks From Jung Paper

Network Performance Worst case: 5ms latencies From Jung Paper

Teleoperation Test Sensible Phantom Omni – position sensing and force feedback device From Jung Paper

Teleoperation Test Slight delay From Jung Paper

Conclusion Acceptable for haptic feedback and teleoperation Need optimal network topology for closed loop control

Good Aspects of Paper Framework explained very clearly Many figures Experiments demonstrate good performance Very flexible and reusable code Simple API

Weaknesses of Paper Mentioned other tools but didn’t compare Tested with predictable paths No real user data

Further Studies Latencies with many modules occurring simultaneously Look at how delays affect usability

Applications to Our Project Framework compiled Next step – program interfaces between modules

Thank you. Any questions?